WO2019080935A1 - Système de travail automatique - Google Patents

Système de travail automatique

Info

Publication number
WO2019080935A1
WO2019080935A1 PCT/CN2018/112185 CN2018112185W WO2019080935A1 WO 2019080935 A1 WO2019080935 A1 WO 2019080935A1 CN 2018112185 W CN2018112185 W CN 2018112185W WO 2019080935 A1 WO2019080935 A1 WO 2019080935A1
Authority
WO
WIPO (PCT)
Prior art keywords
charging
module
energy
energy module
mobile device
Prior art date
Application number
PCT/CN2018/112185
Other languages
English (en)
Chinese (zh)
Inventor
焦石平
张宝全
兰彬财
高振东
陈秀连
杜江
Original Assignee
苏州宝时得电动工具有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 苏州宝时得电动工具有限公司 filed Critical 苏州宝时得电动工具有限公司
Priority to EP18870547.9A priority Critical patent/EP3703218A4/fr
Publication of WO2019080935A1 publication Critical patent/WO2019080935A1/fr
Priority to US16/848,559 priority patent/US11394216B2/en

Links

Images

Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/00047—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with provisions for charging different types of batteries
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A01D34/006—Control or measuring arrangements
    • A01D34/008—Control or measuring arrangements for automated or remotely controlled operation
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/0013—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries acting upon several batteries simultaneously or sequentially
    • H02J7/0024—Parallel/serial switching of connection of batteries to charge or load circuit
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/0042—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction
    • H02J7/0045—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction concerning the insertion or the connection of the batteries
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/0063—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with circuits adapted for supplying loads from the battery

Definitions

  • the invention relates to an automatic working system.
  • a mobile module disposed on the airframe and configured to drive the mobile device to move;
  • a task execution module disposed on the body and configured to perform a work task
  • the self-mobile device is powered by the detachable energy module, and the charging system is configured to charge the detachable energy module.
  • the charging management module includes an energy information acquiring module for acquiring related information of the energy module, and a control unit for controlling the charging system according to the related information, wherein the control unit is configured to control the The charging system charges the energy module with the corresponding charging mode.
  • the energy information acquiring module is configured to acquire at least one of quantity information and genre information of the energy module, and the control unit controls according to at least one of quantity information and genre information of the energy module.
  • the charging mode further includes a constant voltage charging mode for charging the energy module by using a constant charging voltage, and in the constant voltage charging mode, the control unit automatically selects according to related information of the energy module.
  • the energy information obtaining module is configured to acquire a current voltage value of the energy module, and the control unit controls the charging system to select the constant current charging mode according to a current voltage value of the energy module.
  • One of the constant voltage charging modes charges the energy module.
  • the energy information acquiring module is configured to continuously acquire at least one of the quantity of the energy module, the current temperature, the voltage value, and the remaining power value, where the control unit acquires according to the energy information acquiring module.
  • the information about the energy module controls the state of charge of the charging system to charge the energy module.
  • the charging management module further includes an instruction receiving module and a control unit, wherein the instruction receiving module is configured to receive an instruction for adjusting the charging mode, and the control unit adjusts the charging mode according to the instruction.
  • the charging management module adjusts a charging current of the charging system by controlling a charging current that is charged by the charging system to the energy module.
  • the self-mobile device includes a self-mobile device power supply interface directly connected to the energy module and a device connection interface electrically connected to the charging component adapter interface, so that the self-mobile device simultaneously gives The energy module docked from the power supply interface of the mobile device and the energy module electrically connected to the charging component interface are charged.
  • the self-mobile device is an automatic lawn mower.
  • 21 is a block diagram of a self-mobile device in an embodiment of the present invention.
  • Figure 40 is a perspective view of a charging member in an embodiment of the present invention.
  • Figure 44 is a perspective view showing the device cover of the self-moving device shown in Figure 43 opened.
  • Figure 46 is a block diagram showing an automatic working system in an embodiment of the present invention.
  • an automatic working system 100 includes a self-mobile device 1, a charging station 8, a power tool 9, and at least one energy module 2.
  • the energy module 2 can be selectively used to power the mobile device 1 or the power tool 9, in other words, the user can selectively use the energy module 2 from the mobile device 1 or the power tool 9 to give a corresponding Power is supplied from the mobile device 1 or the power tool 9.
  • the self-mobile device 100 includes a charging system for storing external electrical energy in the energy module 2.
  • the energy module 2 can store external electrical energy in the energy module 2 by means of the mobile device 1.
  • the source of external electrical energy can be ordinary commercial power, electric energy converted from solar energy, electric energy converted from wind energy, and the like.
  • the guide line may also be a physical boundary formed by a fence or the like, or a physical boundary formed between the lawn and the non-turf.
  • the guide line detecting sensor may be a camera, a capacitive sensor or the like.
  • the boundary line is connected to the charging station and charged by the alternating current.
  • the automatic working system may also be powered directly by the energy module 2 without being powered by alternating current.
  • the conversion interface 62 that interfaces with the energy module connector 22 is the same as the power tool power supply interface, so that the energy module can be selectively used to power the mobile device 1 or the power tool 9 through the conversion interface.
  • the interface converter is not limited to the interface converter with cable shown in FIG. 7, but may be of other types.
  • the interface converter may have no cable as long as two sets of conversion interfaces are provided.
  • the interface converter can be a variety of battery pack converters, and different batteries can be plugged in by replacing different converters.
  • the interface converter 6 and the energy module 2 can be collectively referred to as a new energy module, and the conversion interface 61 of the interface converter 6 electrically connected to the mobile device connector 102 can be referred to as a new one. Energy module connector.
  • the automatic working system 100 further includes a charge and discharge management module 104 for managing related parameters in the charging and discharging process of the energy module, and the charging and discharging management module 104 controls whether the energy module is charged and discharged according to the charging and discharging environment. Charge and discharge, and adjust the current and voltage parameters such as charge and discharge in real time to prevent damage to the battery or other related objects caused by excessive charging temperature, overcharge or over discharge of the battery.
  • the charging and discharging management module 104 may be separately disposed in the self-moving device 1 or may be separately disposed in the energy module 2, or may be integrated into the control module as part of the function of the control module 7, or may be set in other according to actual conditions. Location or in other forms.
  • the anti-theft detection module 242 includes a coordinate positioning module for positioning the energy module 2 and acquiring position information of the energy module 2, such as a GPS positioning module, etc., preset by a security a position range, when the position of the energy module 2 acquired by the coordinate positioning module exceeds the safe position range, the control module 7 controls the anti-theft system to start.
  • the anti-theft system includes a terminal device capable of being connected to the coordinate positioning module by wireless communication, such as a mobile phone, a computer, etc., wherein the anti-theft system startup refers to the coordinate positioning module to the energy module.
  • the location information of 2 is sent to the terminal device, and the user can find the energy module 2 according to the location information sent by the coordinate positioning module.
  • the present embodiment differs from the above-described embodiment only in the structure of the battery housing portion 101 of the mobile device 200.
  • the terminal 1022 is a general electrical conductor including, but not limited to, a metal conductor such as copper, iron, aluminum, or silver.
  • the shapes of the terminals 1022 and the mating terminals are matched to each other for a plug-in electrical connection.
  • the shape of the terminal 1022 may be a plug type protrusion such as a sheet shape or a rod shape, and the corresponding butt terminal is disposed in the groove as a socket.
  • the terminal 1022 can also be disposed in the recess to form a socket, and the corresponding docking terminal is configured as a plug-type protrusion.
  • Terminal 1022 can be a two-phase or three-phase plug or a multi-phase plug.
  • the body 1023 includes a connecting portion 1025 floatingly coupled to the body 210, the body 10 including a restricting portion 1026 for restraining the connecting portion 1025, the connecting portion 1025 and the restriction
  • the portion 1026 is floatingly connected, and the restricting portion 1026 constrains the connecting portion within a certain range to restrain the floating range of the connecting portion 1025, and prevents the connecting portion 1025 from being detached from the body 210, so that the connecting portion 1025 can be opposite to the body 210 within a limited range. mobile.
  • the electrical parameters of the energy module 2 include the voltage and current of the energy module 2 and the circuit in which it is located. Power, battery pack type, power, number of charge and discharge, battery internal resistance, single battery voltage and the state of the circuit in which it is located.
  • the states of the circuit include states of charge and discharge, sequential charge and discharge, series-parallel charge and discharge, and mutual charging between energy modules.
  • the environmental parameters include temperature or humidity of the energy module 2, and the like.
  • the information acquiring module 511 can directly obtain related information of the energy module 2 by means of detection, and can also obtain related information of the energy module 2 by means of communication. Specifically, the information about the information about the energy module 2 is obtained by means of communication.
  • the intelligent management platform 510 presets a storage module that stores information about the energy module 2, and the storage module uses the wireless communication or the like to The related information of the energy module 2 is sent to the information acquisition module 511.
  • the above device information refers to device-related information that is powered by the energy module 2, such as the type of device powered by the energy module 2, the power of the device, the supply voltage required by the device, and the size of the battery interface on the device.
  • the intelligent control module 512 controls the state of the energy module 2 according to the device information and related information of the energy module 2.
  • the intelligent management platform 510 can identify device information in the following manner.
  • an identification electrode is added to the electrode holder and connected to the battery pack electrode sheet, and the battery pack passes through the identification electrode identification device, and the identification electrode may also be referred to as the identification module.
  • the specific intelligent control module 512 controls the state of the energy module 2 according to the detection result of the temperature and humidity detecting module 5112. Reference may be made to the following embodiments:
  • the detecting module is a humidity detecting module 244, and a humidity threshold is preset from the mobile device 1. If the humidity detected by the humidity detecting module 244 exceeds the humidity threshold, the smart The control module 512 controls the energy module to not supply power; if the humidity detected by the humidity detecting module 244 does not exceed the humidity threshold, the intelligent control module 512 controls the power module to supply power.
  • the humidity detecting module 244 can be a polymer resistive sensor. In other embodiments, the humidity detecting module 244 can also be other sensors or other structures.
  • the self-mobile device 1 further includes a drying device that dries the energy module 2 and the environment in which it is located to reduce the humidity when the humidity detected by the humidity detecting module exceeds the humidity threshold. .
  • the intelligent control module 512 controls the serial-parallel adjustment module 514 to manage the parallel charging or alternate charging of the energy module 2 according to the related information acquired by the information acquiring module 511. Specifically, Presetting a safety range, the electrical acquisition module 5111 acquires the voltage and the electric quantity of the energy module 2, and if the voltage difference and the electric quantity difference between the energy modules 2 are within a safe range, the intelligent control module 512 controls The series-parallel adjustment module 514 manages the energy modules 2 to be connected in parallel and charged.
  • the default program further includes a preset battery pack working condition.
  • a preset battery pack working condition When the number of the self-mobile device battery pack is reduced, the remaining battery pack after the self-mobile device battery pack is reduced is referred to as a remaining battery pack.
  • the information obtaining module 511 acquires related information of the remaining battery packs, and the intelligent control module 512 controls the state of the remaining battery packs according to whether the related information of the remaining battery packs meets preset battery pack operating conditions. Specifically, if the information about the remaining battery pack meets the preset battery pack working condition, the remaining battery pack continues to supply power, if the information about the remaining battery pack does not meet the preset battery pack working condition.
  • the specific charge and discharge state of the remaining battery pack can still be managed according to the intelligent management platform described in the above embodiments.
  • the intelligent management platform intelligently manages a specific charging and discharging state of the remaining battery pack.
  • the information acquisition module acquires information about the change in the number and type of the battery packs of the mobile device, and inputs the changed information into a default program, and the intelligent control module 512 controls the self-mobile device according to the default program intelligence.
  • the state of the battery pack enables intelligentization of the mobile device and its automatic working system.
  • the intelligent control module 512 controls the corresponding program to be turned on, and the corresponding state is executed from the mobile device battery pack.
  • the information about the change in the number and type of the battery packs of the mobile device is obtained by the information acquiring module 511, and the intelligent control module 512 intelligently controls the state of the battery pack of the mobile device according to the changed information. Achieve intelligence from mobile devices and their automated work systems.
  • the energy module 2 can be selectively used to power the mobile device 800 or the power tool 9, in other words, the user can selectively use the energy module 2 from the mobile device 800 or the power tool 9 to give a corresponding Power is supplied from the mobile device 800 or the power tool 9.
  • the self-mobile device 800 includes a charging system for storing external electrical energy in the energy module 2.
  • the energy module 2 can store external electrical energy in the energy module 2 by means of the mobile device 800.
  • the source of external electrical energy can be ordinary commercial power, electric energy converted from solar energy, electric energy converted from wind energy, and the like.
  • the self-moving device 800 is an automatic lawn mower.
  • the energy information obtaining module 806 automatically acquires at least one of the quantity information and the genre information of the energy module 2, and the control unit 808 is configured according to at least one of the quantity information and the genre information of the energy module 2,
  • the charging mode that controls the charging system 810 to charge the energy module 2 that is, when the power is turned on, controls the charging system 810 to automatically select an appropriate charging mode to charge the energy module 2.
  • the energy information obtaining module 806 continuously obtains the quantity information of the energy module 2, and when the number of the energy modules 2 changes, the charging management module 801 adjusts the charging mode for charging the energy module 2 in real time.
  • the self-mobile device 800 further includes a non-automatic return charging mode, in which the control unit 808 controls the docking of the mobile device 800 from the charging station 8 to provide energy. Module 2 is charged.
  • the self-mobile device 800 can be actively taken back to the charging station when the mobile device 800 has not met the return charging condition, or by the return button on the self-mobile device 800, or through A regression button on the user terminal controls the return from the mobile device 800 to the charging station to charge the energy module 2.

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)

Abstract

L'invention concerne un système de travail automatique comprenant un dispositif automoteur alimenté par un module d'alimentation en énergie et qui se déplace et fonctionne dans une zone de travail définie ; le dispositif automoteur comprend un corps, un module de déplacement, un module d'exécution de tâche, un module de commande et un système de charge destiné à stocker de l'énergie électrique externe dans le module d'alimentation en énergie de sorte à charger le module d'alimentation en énergie ; le système de charge comprend au moins deux modes de charge destinés à charger le module d'alimentation en énergie et le système de charge met en oeuvre différentes logiques de charge et/ou différents paramètres de charge dans les différents modes de charge afin de charger le module d'alimentation en énergie ; le système de charge comprend également un module de gestion de charge destiné à gérer les modes de charge de sorte que le système de charge mette en oeuvre un mode de charge correspondant pour charger le module d'alimentation en énergie.
PCT/CN2018/112185 2017-10-27 2018-10-26 Système de travail automatique WO2019080935A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP18870547.9A EP3703218A4 (fr) 2017-10-27 2018-10-26 Système de travail automatique
US16/848,559 US11394216B2 (en) 2017-10-27 2020-04-14 Automatic working system

Applications Claiming Priority (8)

Application Number Priority Date Filing Date Title
CN201711025072 2017-10-27
CN201711025072.1 2017-10-27
CN201711294746 2017-12-08
CN201711294746.8 2017-12-08
CN201810011833 2018-01-05
CN201810011833.6 2018-01-05
CN201810364669.7 2018-04-23
CN201810364669 2018-04-23

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US16/848,559 Continuation US11394216B2 (en) 2017-10-27 2020-04-14 Automatic working system

Publications (1)

Publication Number Publication Date
WO2019080935A1 true WO2019080935A1 (fr) 2019-05-02

Family

ID=66247736

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2018/112185 WO2019080935A1 (fr) 2017-10-27 2018-10-26 Système de travail automatique

Country Status (2)

Country Link
EP (1) EP3703218A4 (fr)
WO (1) WO2019080935A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115622208A (zh) * 2021-07-12 2023-01-17 南京泉峰科技有限公司 自驱动设备系统及其充电站

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103970039A (zh) * 2013-02-06 2014-08-06 苏州宝时得电动工具有限公司 自动工作设备及其控制模块
US20140266048A1 (en) * 2013-03-15 2014-09-18 Black & Decker Inc. Dual Port Charger
CN104953685A (zh) * 2010-11-18 2015-09-30 创科电动工具科技有限公司 电池充电器
CN205335882U (zh) * 2015-12-21 2016-06-22 苏州宝时得电动工具有限公司 充电装置与智能割草机充电系统
CN206211572U (zh) * 2016-10-09 2017-05-31 苏州宝时得电动工具有限公司 充电器及充电系统
CN107093918A (zh) * 2017-05-27 2017-08-25 李静 一种充电器及其充电方法

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20120256752A1 (en) * 2011-04-06 2012-10-11 James William Musser System and method to extend operating life of rechargable batteries using battery charge management

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104953685A (zh) * 2010-11-18 2015-09-30 创科电动工具科技有限公司 电池充电器
CN103970039A (zh) * 2013-02-06 2014-08-06 苏州宝时得电动工具有限公司 自动工作设备及其控制模块
US20140266048A1 (en) * 2013-03-15 2014-09-18 Black & Decker Inc. Dual Port Charger
CN205335882U (zh) * 2015-12-21 2016-06-22 苏州宝时得电动工具有限公司 充电装置与智能割草机充电系统
CN206211572U (zh) * 2016-10-09 2017-05-31 苏州宝时得电动工具有限公司 充电器及充电系统
CN107093918A (zh) * 2017-05-27 2017-08-25 李静 一种充电器及其充电方法

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of EP3703218A4 *

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115622208A (zh) * 2021-07-12 2023-01-17 南京泉峰科技有限公司 自驱动设备系统及其充电站

Also Published As

Publication number Publication date
EP3703218A1 (fr) 2020-09-02
EP3703218A4 (fr) 2021-09-01

Similar Documents

Publication Publication Date Title
US11394216B2 (en) Automatic working system
CN210835722U (zh) 自移动设备及其自动工作系统
CN109728621B (zh) 自动工作系统
CN220400799U (zh) 一种电池包、电动工具及充电系统
CN105529802B (zh) 一种充电系统
US20110298414A1 (en) Bidirectional battery charge controller
WO2018188028A1 (fr) Chargeur et appareil de transport de véhicule aérien sans pilote
CN108520993A (zh) 电池恒温系统以及电池充放电管理方法
US6094029A (en) Integral power pack and recharger
CN105529754B (zh) 一种电池包及其充电方法以及采用该电池包的电动工具
CN209514407U (zh) 自移动设备及其自动工作系统
WO2019080935A1 (fr) Système de travail automatique
WO2019110013A1 (fr) Station de charge pour dispositif mobile autonome, et système de travail automatique associé
RU2506879C1 (ru) Пылесос, использующий интеллектуальную энергосистему
WO2020114415A1 (fr) Dispositif et système automoteurs
WO2020187321A1 (fr) Dispositif d'alimentation électrique
CN209690782U (zh) 自移动设备
CN205544529U (zh) 一种分体式遥控器
CN211543793U (zh) 电动车
CN218526114U (zh) 储能电源和电池包的组件
AU2021254599B2 (en) Battery pack with temperature limited current
CN211830278U (zh) 一种用于可充电电池的充电管理系统
CN209562216U (zh) 矿用无线基站后备电源控制装置
WO2022247517A1 (fr) Bloc-batterie, système d'outils électriques, et système de charge
CN216529019U (zh) 用于无绳电动工具的电池包

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 18870547

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

ENP Entry into the national phase

Ref document number: 2018870547

Country of ref document: EP

Effective date: 20200527